/*********************************************************************************
This code is provided for internal research and development purposes by Huawei solely,
in accordance with the terms and conditions of the research collaboration agreement of May 7, 2020.
Any further use for commercial purposes is subject to a written agreement.
 *  OKVIS - Open Keyframe-based Visual-Inertial SLAM
 *  Copyright (c) 2015, Autonomous Systems Lab / ETH Zurich
 *  Copyright (c) 2016, ETH Zurich, Wyss Zurich, Zurich Eye
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions are met:
 * 
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright notice,
 *     this list of conditions and the following disclaimer in the documentation
 *     and/or other materials provided with the distribution.
 *   * Neither the name of Autonomous Systems Lab / ETH Zurich nor the names of
 *     its contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 *  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 *  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 *  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 *  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 *  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 *  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 *  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 *
 *  Created on: Aug 30, 2013
 *      Author: Stefan Leutenegger (s.leutenegger@imperial.ac.uk)
 *    Modified: Zurich Eye
 *********************************************************************************/

/**
 * @file PoseParameterBlock.cpp
 * @brief Source file for the PoseParameterBlock class.
 * @author Stefan Leutenegger
 */

#include <ze/nlls/pose_parameter_block.hpp>

namespace ze {
namespace nlls {

// Default constructor (assumes not fixed).
PoseParameterBlock::PoseParameterBlock()
    : ParameterBlock::ParameterBlock()
{
  setFixed(false);
}

// Trivial destructor.
PoseParameterBlock::~PoseParameterBlock() {}

// Constructor with estimate and time.
PoseParameterBlock::PoseParameterBlock(
    const Transformation& T_WS, uint64_t id,
    const int64_t& timestamp)
{
  setEstimate(T_WS);
  setId(id);
  setTimestamp(timestamp);
  setFixed(false);
}

// setters
// Set estimate of this parameter block.
void PoseParameterBlock::setEstimate(const Transformation& T_WS)
{
  const Eigen::Vector3d& r = T_WS.getPosition();
  const Quaternion& q = T_WS.getRotation();
  parameters_[0] = r[0];
  parameters_[1] = r[1];
  parameters_[2] = r[2];
  parameters_[3] = q.x();  // x
  parameters_[4] = q.y();  // y
  parameters_[5] = q.z();  // z
  parameters_[6] = q.w();  // w
}

// getters
// Get estimate.
Transformation PoseParameterBlock::estimate() const
{
  return Transformation(
      Eigen::Vector3d(parameters_[0], parameters_[1], parameters_[2]),
      Eigen::Quaterniond(parameters_[6], parameters_[3], parameters_[4],
                         parameters_[5]));
}

}  // namespace nlls
}  // namespace ze
